SE2251370A1

SE2251370A1 - Geotechnical engineering machine, and method of controlling a working arm thereof

Info

Publication number: SE2251370A1
Application number: SE2251370A
Authority: SE
Inventors: Hao Liu; Jianhua Huang; Zhiqiang Hou; Zhongshang Zhou
Original assignee: Jiangsu Xcmg Construction Machinery Res Institute Ltd
Priority date: 2021-11-29
Filing date: 2022-11-23
Publication date: 2023-05-30
Also published as: CN114109246A; CN114109246B

Abstract

The present disclosure provides a geotechnical engineering machine, and a method of controlling a working arm thereof. The geotechnical engineering machine includes: a vehicle body; a working arm, having a plurality of degrees of freedom of motion relative to the vehicle body; a vehicle body position and attitude detection system, configured to acquire vehicle body real-time position and attitude information for reflecting the real-time position and attitude of the vehicle body in an operation space of the geotechnical engineering machine; a working arm position and attitude detection system, configured to acquire working arm real-time position and attitude information for reflecting the real-time position and attitude of the working arm relative to the vehicle body; and a position and attitude adjusting system, including a control device and a driving device, where the control device is configured to send a control signal for adjusting the position and attitude of the working arm to the driving device according to predetermined position and attitude information for reflecting the position and attitude of the working arm required to perform operation on a construction operation surface, the vehicle body real-time position and attitude information and the working arm real-time position and attitude information, and the driving device is configured to drive the working arm according to the control signal to move so as to make the working arm reach the predetermined position and attitude.

Description

GEOTECHNICAL ENGINEERING MACHINE, AND METHOD OF CONTROLLING A WORKING ARM THEREOF Field of the Invention [001] The present disclosure relates to the field of engineering machinery, and in particular to a geotechnical engineering machine, and a method of controlling a Working ann thereof.

Background of the Invention id="p-2" id="p-2" id="p-2" id="p-2" id="p-2" id="p-2"

[002] Drill jumbo is one of main equipment for drilling and blasting rocks, has the advantages of fleXible transition and high efficiency, and is Widely applied to drilling-blasting method construction of railway tunnels and highWay tunnels. During drilling-blasting method construction, in order to achieve the best blasting effect, it is necessary to locate the blast holes of a tunnel face. According to the related art knoWn by the inventor, during engineering construction, the position and attitude of a mechanical ann are mainly adjusted manually. This adjusting method is highly dependent on the experience of operators, so it is difficult to ensure the high-precision control of the drilling position. Since the mechanical ann has many degrees of freedom, the operator needs to adjust the mechanical ann for many times every positioning before drilling and the efficiency is loW. Furthennore, due to numerous blast holes in one section, the accumulated position errors of the plurality of holes Will lead to a big deviation betWeen the drilling result and the design value, finally resulting in a poor tunnel blasting effect. It is often necessary to repair the blasting section, so the construction cost is greatly increased.

Summary of the Invention id="p-3" id="p-3" id="p-3" id="p-3" id="p-3" id="p-3"

[003] An objective of the present disclosure is to provide a geotechnical engineenng machine, and a method of controlling a Working ann thereof, thereby improving the construction precision and the operation efficiency of the geotechnical engineering machine. id="p-4" id="p-4" id="p-4" id="p-4" id="p-4" id="p-4"

[004] A first aspect of the present disclosure provides a geotechnical engineering machine, including: id="p-5" id="p-5" id="p-5" id="p-5" id="p-5" id="p-5"

[005] a vehicle body; 1/ 4 id="p-6" id="p-6" id="p-6" id="p-6" id="p-6" id="p-6"

[006] a Working ann, connected to the vehicle body and having a plurality of degrees of freedom of motion relative to the vehicle body; id="p-7" id="p-7" id="p-7" id="p-7" id="p-7" id="p-7"

[007] a vehicle body position and attitude detection system, arranged on the vehicle body and configured to acquire vehicle body real-time position and attitude information for reﬂecting the real-time position and attitude of the vehicle body in an operation space of the geotechnical engineering machine; id="p-8" id="p-8" id="p-8" id="p-8" id="p-8" id="p-8"

[008] a Working ann position and attitude detection system, arranged on the Working ann and configured to acquire Working ann real-time position and attitude infonnation for reﬂecting the real-time position and attitude of the Working ann relative to the vehicle body; and id="p-9" id="p-9" id="p-9" id="p-9" id="p-9" id="p-9"

[009] a position and attitude adjusting system, compnsing a control device and a dnving device, Where the control device is signally connected to the vehicle body position and attitude detection system, the Working ann position and attitude detection system and the dnving device, the control device is configured to send a control signal for adjusting the position and attitude of the Working ann to the driving device according to predetennined position and attitude infonnation for reﬂecting the position and attitude of the Working ann required to perfonn operation on a construction operation surface, the vehicle body real-time position and attitude infonnation and the Working ann real-time position and attitude infonnation, the driving device is in driving connection With the Working ann, and the driving device is configured to dnve the Working ann according to the control signal to move so as to make the Working ann reach the predetennined position and attitude.

[O 10] According to some embodiments of the present disclosure, [01 1] the vehicle body position and attitude detection system is configured to acquire at least one of the folloWing vehicle body real-time position and attitude infonnation: a first actual value otl of a yaW angle of the vehicle body relative to the operation space, a second actual value ßl of a pitch angle of the vehicle body relative to the operation space, and a third actual value yl of a roll angle of the vehicle body relative to the operation space; and/or [0l2] the Working ann includes a first ann section and a propelling beam, a first end of the first ann section is connected to the vehicle body and has a plurality of degrees of freedom of motion relative to the vehicle body, and the propelling beam is connected to a second end of the 2/ 4 first ann section and has a plurality of degrees of freedom of motion relative to the first ann section; the Working ann position and attitude detection system includes a first ann section attitude angle detection device and a propelling beam attitude angle detection device; the first ann section attitude angle detection device is configured to acquire at least one of the following Working ann real-time position and attitude infonnation: a fourth actual value ot2 of a yaW angle of the first ann section relative to the vehicle body, a fifth actual value BZ of a pitch angle of the first ann section relative to the vehicle body and a siXth actual value V2 of a roll angle of the first ann section relative to the vehicle body; and the propelling beam attitude angle detection device is configured to acquire at least one of the folloWing Working ann real-time position and attitude infonnation: a seventh actual value (13 of a yaW angle of the propelling beam relative to the first ann section, an eighth actual value ß3 of a pitch angle of the propelling beam relative to the first ann section and a ninth actual value V3 of a roll angle of the propelling beam relative to the first ann section.

[O 13] According to some embodiments of the present disclosure, the vehicle body position and attitude detection system further includes: [O14] a prism group, including a plurality of prisms arranged at various positions of the vehicle body, and configured to detect the first actual value otl, the second actual value ß1 and the third actual value V1; and/or [O 15] a dual-axis tilt angle sensor, configured to detect the second actual value ß1 and the third actual value V1.

[O 16] According to some embodiments of the present disclosure, [O17] the first ann section attitude angle detection device includes a first angle sensor, a second angle sensor and a third angle sensor, the first angle sensor is configured to detect the fourth actual value ot2, the second angle sensor is configured to detect the fifth actual value ß2, and the third angle sensor is configured to detect the sixth actual value V2; and/or [O 18] the propelling beam attitude angle detection device includes a fourth angle sensor, a fifth angle sensor and a sixth angle sensor, the fourth angle sensor is configured to detect the seventh actual value ot3, the fifth angle sensor is configured to detect the eighth actual value ß3, and the siXth angle sensor is configured to detect the ninth actual value V3. 3/ 4 [0 19] According to some embodiments of the present disclosure, the control device is ﬁirther configured to: acquire a tenth actual Value H of a pitch angle of the propelling beam relatiVe to the operation space and an eleVenth actual Value V of a yaW angle of the propelling beam relatiVe to the operation space according to at least one of the first actual Value otl, the second actual Value ßl, the third actual Value yl, the fourth actual Value ot2, the fifth actual Value BZ, the siXth actual Value V2, the seVenth actual Value (13, the ei ghth actual Value [33 and the ninth actual Value V3. [020] According to some embodiments of the present disclosure, the predetennined position and attitude information includes a first predetennined Value H0 of a pitch angle of the propelling beam relatiVe to the operation space, and a second predetennined Value V0 of a yaW angle of the propelling beam relatiVe to the operation space; and the control deVice is ﬁirther configured to: acquire a first deViation AH of the pitch angle according to the tenth actual Value H and the first predetennined Value H0, acquire a second deViation AV of the yaW angle according to the eleVenth actual Value V and the second predetennined Value V0, and send the control signal to the driving deVice according to the first deViation AH and the second deViation AV. [02 1] According to some embodiments of the present disclosure, id="p-22" id="p-22" id="p-22" id="p-22" id="p-22" id="p-22"

[022] the first ann section is telescopically arranged along a length direction thereof, the Working ann position and attitude detection system further includes a first ann section displacement sensor, and the first ann section displacement sensor is configured to detect the displacement of a first end of the first ann section in the length direction relatiVe to a second end in the length direction; and/or id="p-23" id="p-23" id="p-23" id="p-23" id="p-23" id="p-23"

[023] the propelling beam is telescopically arranged along a length direction thereof, the Working ann position and attitude detection system further comprises a propelling beam displacement sensor, and the propelling beam displacement sensor is configured to detect the displacement of a first end of the propelling beam in the length direction relatiVe to a second end in the length direction; and/or id="p-24" id="p-24" id="p-24" id="p-24" id="p-24" id="p-24"

[024] the Working ann further includes a drill rod moVably arranged on the propelling beam along the length direction of the propelling beam, the Working ann position and attitude detection system further includes a dnll rod displacement sensor, and the dnll rod displacement sensor is configured to detect the displacement of the drill rod relatiVe to the propelling beam along the 4/ 4 length direction of the propelling beam. id="p-25" id="p-25" id="p-25" id="p-25" id="p-25" id="p-25"

[025] According to some embodiments of the present disclosure, the driving device includes a first driving device, a second driving device and a third driving device Which are in driving connection With the propelling beam, the first driving device is configured to drive the propelling beam to rotate around a first axis relative to the first ann section, the second driving device is configured to drive the propelling beam to rotate around a second axis relative to the first ann section, the third driving device is configured to drive the propelling beam to rotate around a third aXis relative to the propelling beam, the first aXis eXtends along a height direction of the propelling beam, the second aXis eXtends along a Width direction of the first ann section, and the third aXis eXtends along a length direction of the first arm section. id="p-26" id="p-26" id="p-26" id="p-26" id="p-26" id="p-26"

[026] According to some embodiments of the present disclosure, the driving device is a hydraulic driving device, the position and attitude adjusting system further includes a control valve signally connected to the control device and connected to the hydraulic driving device through a hydraulic pipeline, and the control value is configured to adjust pressure and/or ﬂoW of hydraulic oil in the hydraulic driving device according to the control signal sent by the control device to drive the Working ann to move. id="p-27" id="p-27" id="p-27" id="p-27" id="p-27" id="p-27"

[027] According to some embodiments of the present disclosure, the geotechnical engineenng machine includes a drill jumbo, an anchor rod trolley or a Wet spraying trolley. id="p-28" id="p-28" id="p-28" id="p-28" id="p-28" id="p-28"

[028] A second aspect of the present disclosure provides a method of controlling a Working ann of a geotechnical engineering machine, including the folloWing steps: id="p-29" id="p-29" id="p-29" id="p-29" id="p-29" id="p-29"

[029] acquiring vehicle body real-time position and attitude infonnation for reﬂecting the real-time position and attitude of a vehicle body of the geotechnical engineering machine in an operation space of the geotechnical engineering machine, and Working ann real-time position and attitude infonnation for reﬂecting the real-time position and attitude of a Working ann of the geotechnical engineering machine in the operation space of the geotechnical engineering machine; and id="p-30" id="p-30" id="p-30" id="p-30" id="p-30" id="p-30"

[030] adjusting the position and attitude of the Working ann according to predetennined position and attitude infonnation for reﬂecting the position and attitude of the Working ann required to perfonn operation on a construction operation surface, the vehicle body real-time 5/ 4 position and attitude information and the Working ann real-time position and attitude information so as to make the Working ann reach the predetennined position and attitude. id="p-31" id="p-31" id="p-31" id="p-31" id="p-31" id="p-31"

[031] According to some embodiments of the present disclosure, id="p-32" id="p-32" id="p-32" id="p-32" id="p-32" id="p-32"

[032] the step of acquiring the Vehicle body real-time position and attitude information includes: acquiring at least one of a first actual Value otl of a yaW angle of the Vehicle body in the operation space, a second actual Value ßl of a pitch angle of the Vehicle body in the operation space, and a third actual Value yl of a roll angle of the Vehicle body in the operation space; and/or [033] the Working ann includes a first ann section and a propelling beam, a first end of the first ann section is connected to the Vehicle body and has a plurality of degrees of freedom of motion relatiVe to the Vehicle body, and the propelling beam is connected to a second end of the first ann section and has a plurality of degrees of freedom of motion relatiVe to the first ann section; the step of acquiring the Working ann real-time position and attitude infonnation includes: acquiring at least one of a fourth actual Value ot2 of a yaW angle of the first ann section relatiVe to the Vehicle body, a fifth actual Value BZ of a pitch angle of the first ann section relatiVe to the Vehicle body, a siXth actual Value V2 of a roll angle of the first ann section relatiVe to the Vehicle body, a seVenth actual Value ot3 of a yaW angle of the propelling beam relatiVe to the first ann section, an eighth actual Value ß3 of a pitch angle of the propelling beam relatiVe to the first ann section and a ninth actual Value V3 of a roll angle of the propelling beam relatiVe to the first ann section. id="p-34" id="p-34" id="p-34" id="p-34" id="p-34" id="p-34"

[034] According to some embodiments of the present disclosure, the acquinng the Vehicle body real-time position and attitude infonnation includes the following steps: id="p-35" id="p-35" id="p-35" id="p-35" id="p-35" id="p-35"

[035] providing pnsm group coordinate infonnation, Where the pnsm group coordinate infonnation includes coordinates of a plurality of prisms arranged at Various positions of the Vehicle body; and id="p-36" id="p-36" id="p-36" id="p-36" id="p-36" id="p-36"

[036] acquiring the first actual Value otl, the second actual Value ßl and the third actual Value yl according to the coordinates of the plurality of prisms. id="p-37" id="p-37" id="p-37" id="p-37" id="p-37" id="p-37"

[037] According to some embodiments of the present disclosure, id="p-38" id="p-38" id="p-38" id="p-38" id="p-38" id="p-38"

[038] the step of proViding prism group coordinate infonnation includes: proViding a first prism coordinate (X1, yl, Zl) and a second prism coordinate (X2, y2, 22); and 6/ 4 id="p-39" id="p-39" id="p-39" id="p-39" id="p-39" id="p-39"

[039] acquiring the f1rst actual Value (11, the second actual Value ßl and the third actual Value yl according to the following corresponding relations: (11 =arctan((y2 -y1)/ (X2 -x1)) id="p-40" id="p-40" id="p-40" id="p-40" id="p-40" id="p-40"

[040] [04]] ß1=arctan((z2-z1)/(x2-x1)) [G42] y1=arctan((z2-z1)/(y2-y1)) Q id="p-43" id="p-43" id="p-43" id="p-43" id="p-43" id="p-43"

[043] According to some embodiments of the present disclosure, the step of acquinng the Working ann real-time position and attitude information includes: acquiring a tenth actual Value H of a pitch angle of the propelling beam relatiVe to the operation space and an eleVenth actual Value V of a yaw angle of the propelling beam relatiVe to the operation space according to at least one of the first actual Value (11, the second actual Value ßl, the third actual Value yl, the fourth actual Value (12, the fifth actual Value ß2, the siXth actual Value V2, the seVenth actual Value (13, the eighth actual Value ß3 and the ninth actual Value V3. id="p-44" id="p-44" id="p-44" id="p-44" id="p-44" id="p-44"

[044] According to some embodiments of the present disclosure, id="p-45" id="p-45" id="p-45" id="p-45" id="p-45" id="p-45"

[045] the tenth actual Value H is acquired according to the first actual Value (11, the third actual Value yl, the fourth actual Value (12, the seVenth actual Value (13, the eighth actual Value ß3, the ninth actual Value V3 and the following corresponding relations: [G46] H= - (a1+y1+o(2+o(3 >< cosy3+ß3 >< siny3) _ d id="p-47" id="p-47" id="p-47" id="p-47" id="p-47" id="p-47"

[047] the eleVenth actual Value V is acquired according to the second actual Value ßl, the fifth actual Value ß2, the seVenth actual Value (13, the eighth actual Value ß3, the ninth actual Value V3 and the following corresponding relations: [G48] V= - (ß1+ß2+ß3 X cosy3 - (13 >< siny3) id="p-49" id="p-49" id="p-49" id="p-49" id="p-49" id="p-49"

[049] According to some embodiments of the present disclosure, the step of adjusting the position and attitude of the working ann according to the deViation between the predetennined position and attitude information for reﬂecting the position and attitude of the working ann required to perfonn operation on a construction operation surface, the Vehicle body real-time position and attitude infonnation and the working ann real-time position and attitude infonnation so as to make the working ann reach the predetennined position and attitude includes: 7/4 id="p-50" id="p-50" id="p-50" id="p-50" id="p-50" id="p-50"

[050] providing the predetennined position and attitude information, including: providing a first predetennined Value H0 of a pitch angle of the propelling beam relative to the operation space, and a second predetennined value V0 of a yaW angle of the propelling beam relative to the operation space; [05 1] acquiring a first deviation AH of the pitch angle according to the tenth actual value H and the first predetennined value H0, and acquiring a second deviation AV of the yaW angle according to the eleventh actual value V and the second predetennined value V0 ; and id="p-52" id="p-52" id="p-52" id="p-52" id="p-52" id="p-52"

[052] driving the propelling beam to rotate around a first aXis, a second aXis and a third aXis according to the first deviation AH and the second deviation AV so as to adjust the position and attitude of the propelling beam until the first deviation AH and the second deviation AV are less than an alloWable range, Where the first aXis eXtending along a height direction of the propelling beam, the second aXis eXtends along a Width direction of the first ann section, and the third aXis eXtends along a length direction of the first arm section. id="p-53" id="p-53" id="p-53" id="p-53" id="p-53" id="p-53"

[053] In the geotechnical engineering machine, and the method of controlling the Working ann thereof according to the embodiment of the present disclosure, the real-time position and attitude of the Working ann may be automatically adjusted based on the vehicle body real-time position and attitude infonnation acquired by the vehicle body position and attitude detection system, the Working ann real-time position and attitude infonnation acquired by the Working ann position and attitude detection system and the predetennined position and attitude infonnation of the Working ann detennined according to the construction requirement until the predetennined position and attitude are reached, the folloW-up control of the Working ann can be realized Without manual operation, and it is beneficial to improve the construction precision and the operation efficiency of the geotechnical engineering machine. id="p-54" id="p-54" id="p-54" id="p-54" id="p-54" id="p-54"

[054] Other features and advantages of the present disclosure Will become apparent by the detailed descnption for exemplary embodiments of the present disclosure With reference to the folloWing accompany draWings.

Brief Description of the Drawings id="p-55" id="p-55" id="p-55" id="p-55" id="p-55" id="p-55"

[055] The accompanying draWings described herein are used to provide ﬁirther understanding 8/ 4 of the present disclosure and constitute a part of the present application. The schematic embodiments of the present disclosure and the description thereof are used to explain the present disclosure, but do not constitute an inappropnate limitation to the present disclosure. In the accompanying draWings: id="p-56" id="p-56" id="p-56" id="p-56" id="p-56" id="p-56"

[056] FIG. l is a schematic structural diagram of a geotechnical engineering machine according to some embodiments of the present disclosure; id="p-57" id="p-57" id="p-57" id="p-57" id="p-57" id="p-57"

[057] FIG. 2 is a schematic structural diagram of a Vehicle body position and attitude detection system according to some embodiments of the present disclosure; id="p-58" id="p-58" id="p-58" id="p-58" id="p-58" id="p-58"

[058] FIG. 3 is a schematic structural diagram of a Working ann position and attitude detection system according to some embodiments of the present disclosure; id="p-59" id="p-59" id="p-59" id="p-59" id="p-59" id="p-59"

[059] FIG 4 and FIG 5 are schematic diagrams of the Working principle of a Working ann control deVice according to some embodiments of the present disclosure; and id="p-60" id="p-60" id="p-60" id="p-60" id="p-60" id="p-60"

[060] FIG 6 is a schematic ﬂoWchart of a method of controlling a Working ann according to some embodiments of the present disclosure.

Detailed Description of the Embodiments id="p-61" id="p-61" id="p-61" id="p-61" id="p-61" id="p-61"

[061] The technical solutions in the embodiments of the present disclosure are described clearly With reference to the accompanying draWings in the embodiments of the present disclosure. Apparently, the described embodiments are merely a part rather than all of the embodiments of the present disclosure. The folloWing descnption of the at least one exemplary embodiment is actually merely illustratiVe and neVer constitutes any limitation to the present disclosure and application or use thereof. All other embodiments made on the basis of the embodiments of the present disclosure by a person of ordinary skill in the art Without paying any creatiVe effort shall be included in the protection scope of the present disclosure. id="p-62" id="p-62" id="p-62" id="p-62" id="p-62" id="p-62"

[062] Unless otherWise specified, relatiVe arrangement, numerical expressions and Values of parts and steps described in the embodiments do not limit the scope of the present disclosure. MeanWhile, it should be understood that for the conVenience of description, the dimensions of each part shoWn in the accompanying draWings are not draWn according to the actual proportional relationship. Technologies, methods and devices knoWn to those of ordinary skill in the related 9/ 4 field may not be discussed in detail, but, Where appropriate, these technologies, methods and devices should be regarded as a part of the authorized specification. In all the examples shoWn and discussed herein, any specific value should be interpreted as merely exemplary rather than a limitation. Therefore, other examples of the eXemplary embodiments may have different values. It should be noted that similar reference numerals and letters reflect similar items in the accompanying draWings below. Therefore, once a certain item is defined in one draWing, it is unnecessary to further discuss the item in the subsequent draWings. id="p-63" id="p-63" id="p-63" id="p-63" id="p-63" id="p-63"

[063] In the description of the present disclosure, it should be understood that the Words "first", "second" and the like for limiting parts are merely for convenience of distinguishing corresponding parts. Unless otherwise stated, the above Words do not have special meanings and cannot be construed as limitations to the protection scope of the present disclosure. id="p-64" id="p-64" id="p-64" id="p-64" id="p-64" id="p-64"

[064] In the description of the present disclosure, it should be understood that an azimuth or position relationship indicated by azimuth Words "front, rear, upper, loWer, left, right", "transverse, longitudinal, vertical, horizontal", "top, bottom" and the like is generally an azimuth or position relationship based on the accompanying draWs, Which is only for facilitating description of the present disclosure and simplifying description. In the absence of a statement to the contrary, these azimuth Words do not indicate and imply that the referred device or component must have a specific azimuth or perform construction and operation in the specific azimuth; therefore, it cannot be interpreted as a limitation to the protection scope of the present disclosure. The azimuth Words "inner, outer" refer to the inside and outside relative to the outline of each component itself. id="p-65" id="p-65" id="p-65" id="p-65" id="p-65" id="p-65"

[065] As shoWn in FIG. 1 to FIG. 6, the embodiments of the present disclosure provide a geotechnical engineering machine, and a method of controlling a Working ann thereof. id="p-66" id="p-66" id="p-66" id="p-66" id="p-66" id="p-66"

[066] The geotechnical engineering machine includes a vehicle body, a Working ann, a vehicle position and attitude detection system, a Working ann position and attitude detection system, and a position and attitude adjusting system, Where the vehicle body position and attitude detection system, the Working ann position and attitude detection system and the position and attitude adjusting system fonn a Working ann control device. id="p-67" id="p-67" id="p-67" id="p-67" id="p-67" id="p-67"

[067] The Working ann is connected to the vehicle body and has a plurality of degrees of freedom of motion relative to the vehicle body. The geotechnical engineering machine may 10/ 4 include one or more Working arms With the same or different functions. id="p-68" id="p-68" id="p-68" id="p-68" id="p-68" id="p-68"

[068] The vehicle body position and attitude detection system is arranged on the vehicle body and is confïgured to acquire vehicle body real-time position and attitude information for reﬂecting the real-time position and attitude of the vehicle body in an operation space of the geotechnical engineering machine. id="p-69" id="p-69" id="p-69" id="p-69" id="p-69" id="p-69"

[069] The Working ann position and attitude detection system is arranged on the Working ann and is configured to acquire Working ann real-time position and attitude infonnation for reﬂecting the real-time position and attitude of the Working ann relative to the vehicle body. id="p-70" id="p-70" id="p-70" id="p-70" id="p-70" id="p-70"

[070] The position and attitude adjusting system includes a control device and a driving device. The control device is signally connected to the vehicle body position and attitude detection system, the Working ann position and attitude detection system and the driving device, the control device is configured to send a control signal for adjusting the position and attitude of the Working ann to the driving device according to predetennined position and attitude infonnation for reﬂecting the position and attitude of the Working ann required to perfonn operation on a construction operation surface, the vehicle body real-time position and attitude infonnation and the Working ann real-time position and attitude infonnation, the driving device is in driving connection With the Working ann, and the driving device is configured to drive the Working ann according to the control signal to move so as to make the Working ann reach the predetennined position and attitude. [07 1] In the present disclosure, the geotechnical engineering machine may be a drill jumbo, an anchor rod trolley or a Wet spraying trolley. For example, in the embodiment shoWn in FIG. l, the geotechnical engineering machine is the dnll jumbo. The vehicle body includes a chassis 1, a cab 2 arranged on the Walking chassis l, a plurality of Working anns, and supporting legs 4 connected to the Walking chassis 1. Each Working ann includes an operation device for perfonning a construction operation. The plurality of Working anns include a plurality of rock drilling anns 3A and a platfonn ann 3B, Where each of the rock drilling anns 3A includes a drilling device for drilling a construction operation surface, the predetennined position and attitude can be reached by adjusting the position and attitude of each Working ann, and the position and attitude of the drilling device can correspondingly meet the requirement of drilling construction. In some 11/4 embodiments not shown in the figures, the Working ann may also be a Wet spraying manipulator of the Wet spraying trolley. id="p-72" id="p-72" id="p-72" id="p-72" id="p-72" id="p-72"

[072] In the geotechnical engineering machine according to the embodiment of the present disclosure, the position and attitude adjusting system may automatically adjust the real-time position and attitude of the Working ann based on the Vehicle body real-time position and attitude information acquired by the Vehicle body position and attitude detection system, the Working ann real-time position and attitude information acquired by the Working ann position and attitude detection system and the predetennined position and attitude infonnation of the Working ann deterrnined according to the construction requirement until the predetennined position and attitude are reached, the folloW-up control of the Working ann can be realized Without manual operation, and it is beneficial to improVe the construction precision and the operation efficiency of the geotechnical engineering machine. id="p-73" id="p-73" id="p-73" id="p-73" id="p-73" id="p-73"

[073] The operation space is defined as a space in a tunnel; an operation space coordinate system Oxyz taking a Width direction of the tunnel as an x axis, a tunneling direction of the tunnel as a y axis and a height direction of the tunnel as a z axis is defined; a Vehicle body coordinate system Oxayaza taking a Width direction of the Vehicle body as an xa direction, a length direction of the Vehicle body as a ya aXis and a height direction of the Vehicle body as a za is defined; a first ann section coordinate system Oxbybzb taking a Width direction of the first ann section as an xb aXis, a length direction of the first ann section as a yb aXis and a height direction of the first ann section as a za aXis is defined; and a propelling beam coordinate system Oxayaza taking a Width direction of the propelling beam as an xa axis, a length direction of the propelling beam as a ya aXis and a height direction of the propelling beam as a za aXis is defined.

[O 74] Based on the aboVe definitions, in the folloWing description: id="p-75" id="p-75" id="p-75" id="p-75" id="p-75" id="p-75"

[075] "the yaW angle of the Vehicle body relatiVe to the operation space" refers to an included angle betWeen a proj ection of the ya axis of the Vehicle body coordinate system Oxayaza in the xOy plane of the operation space coordinate system Oxyz and the y aXis of the operation space coordinate system Oxyz; id="p-76" id="p-76" id="p-76" id="p-76" id="p-76" id="p-76"

[076] "the pitch angle of the Vehicle body relatiVe to the operation space" refers to an included angle betWeen the ya axis of the Vehicle body coordinate system Oxayaza and the xOy plane of the 12/ 4 operation space coordinate system Oxyz; id="p-77" id="p-77" id="p-77" id="p-77" id="p-77" id="p-77"

[077] "the roll angle of the vehicle body relative to the operation space" refers to an included angle between the za axis of the vehicle body coordinate system Oxayaza and a plane perpendicular to the xOy plane of the operation space coordinate system Oxyz and including the ya aXis of the vehicle body coordinate system Oxayaza; id="p-78" id="p-78" id="p-78" id="p-78" id="p-78" id="p-78"

[078] "the yaW angle of the first ann section 311 relative to the vehicle body" refers to an included angle between a projection of the ya axis of the first ann section coordinate system Oxbybzb in the xaOya plane of the vehicle body coordinate system Oxayaza and the ya axis of the vehicle coordinate system Oxayaza; id="p-79" id="p-79" id="p-79" id="p-79" id="p-79" id="p-79"

[079] "the pitch angle of the first ann section 311 relative to the vehicle body" refers to an included angle betWeen the ya axis of the first ann section coordinate system Oxbybzb and the xaOya plane of the vehicle body coordinate system Oxayaza; id="p-80" id="p-80" id="p-80" id="p-80" id="p-80" id="p-80"

[080] "the roll angle of the first ann section 311 relative to the vehicle body" refers to an included angle betWeen the za aXis of the first ann section coordinate system Oxbybzb and a plane perpendicular to the xaOya plane of the vehicle body coordinate system Oxayaza and including the ya of the first ann section coordinate system Oxbybzb; id="p-81" id="p-81" id="p-81" id="p-81" id="p-81" id="p-81"

[081] "the yaW angle of the propelling beam 331 relative to the first ann section 311" refers to an included angle betWeen a proj ection of the ya aXis of the propelling beam coordinate system Oxayaza in the xbOyb plane of the first ann section coordinate system Oxbybzb and the yb aXis of the first ann section coordinate system Oxbybzb; id="p-82" id="p-82" id="p-82" id="p-82" id="p-82" id="p-82"

[082] "the pitch angle of the propelling beam 331 relative to the first ann section 311" refers to an included angle betWeen the ya aXis of the propelling beam coordinate system Oxayaza and the xbOyb plane of the first ann section coordinate system Oxbybzb; id="p-83" id="p-83" id="p-83" id="p-83" id="p-83" id="p-83"

[083] "the roll angle of the propelling beam 331 relative to the first ann section 311" refers to an included angle betWeen the za aXis of the propelling beam coordinate system Oxayaza and a plane perpendicular to the xbOyb plane of the first ann section coordinate system Oxbybzb and including the ya aXis of the propelling beam coordinate system Oxayaza; id="p-84" id="p-84" id="p-84" id="p-84" id="p-84" id="p-84"

[084] "the pitch angle of the propelling beam 331 relative to the operation space" refers to an included angle betWeen the ya axis of the propelling beam coordinate system Oxayaza and the xOy 13/ 4 plane of the operation space coordinate system Oxyz; and id="p-85" id="p-85" id="p-85" id="p-85" id="p-85" id="p-85"

[085] "the yaW angle of the propelling beam 331 relative to the operation space" refers to an included angle betWeen a projection of the yc aXis of the propelling beam coordinate system Oxcyczc in the xOy plane of the operation space coordinate system Oxyz and the y aXis of the operation space coordinate system Oxyz. id="p-86" id="p-86" id="p-86" id="p-86" id="p-86" id="p-86"

[086] In some embodiments, the vehicle body position and attitude detection system is configured to acquire at least one of the following vehicle body real-time position and attitude information: a first actual value otl of a yaW angle of the vehicle body relative to the operation space, a second actual value ßl of a pitch angle of the vehicle body relative to the operation space, and a third actual value V1 of a roll angle of the vehicle body relative to the operation space. id="p-87" id="p-87" id="p-87" id="p-87" id="p-87" id="p-87"

[087] In some embodiments, the Working ann includes a first ann section 311 and a propelling beam 331, a first end of the first ann section 311 is connected to the vehicle body and has a plurality of degrees of freedom of motion relative to the vehicle body, and the propelling beam 331 is connected to a second end of the first ann section 311 and has a plurality of degrees of freedom of motion relative to the first ann section 311. For example, in the embodiment shoWn in FIG. 3, the Working ann includes a first ann section 311, a rotary base 312, a second ann section 321, a first ann section base 322, a propelling beam 331 and a propelling beam base 332. The first ann section 311 and the second ann section 321 are movably connected through the first ann section base 322, and the first ann section 311 and the propelling beam are movably connected through the rotary base 312 and the propelling beam base 332. The first ann section 311 respectively has degrees of freedom of rotation around an axis eXtending along a length direction of the chassis 1, an aXis along a Width direction of the chassis 1 and an aXis eXtending along a height direction of the chassis 1 relative to the chassis 1. The propelling beam 331 respectively has degrees of freedom of rotation around an aXis eXtending a length direction of the first ann section 311, an aXis eXtending a Width direction of the first ann section 311 and an aXis eXtending a height direction of the first ann section 311 relative to the first ann section 311. id="p-88" id="p-88" id="p-88" id="p-88" id="p-88" id="p-88"

[088] In the above embodiments, the Working ann position and attitude detection system includes a first ann section attitude angle detection device and a propelling beam attitude angle detection device. The first ann section attitude angle detection device is configured to acquire at 14/ 4 least one of the following Working ann real-time position and attitude information: a fourth actual value ot2 of a yaW angle of the first ann section 311 relative to the vehicle body, a fifth actual value ß2 of a pitch angle of the first ann section 311 relative to the vehicle body and a siXth actual value V2 of a roll angle of the first ann section 311 relative to the vehicle body. The propelling beam attitude angle detection device is configured to acquire at least one of the following Working ann real-time position and attitude infonnation: a seventh actual value ot3 of a yaW angle of the propelling beam 331 relative to the first ann section 311, an eighth actual value ß3 of a pitch angle of the propelling beam 331 relative to the first ann section 311 and a ninth actual value V3 of a roll angle of the propelling beam 331 relative to the first ann section 311. id="p-89" id="p-89" id="p-89" id="p-89" id="p-89" id="p-89"

[089] In some embodiments, the vehicle body position and attitude detection system ﬁirther includes a prism group. The prism group includes a plurality of pnsms arranged at various positions of the vehicle body, and is configured to detect the first actual value otl, the second actual value ßl and the third actual value V1. The plurality of prisms may be biprisms or triple prisms. For example, in the embodiment shoWn in FIG. 2, the prism group includes a first pnsm 51 and a second prism 52 Which are arranged at intervals along one of diagonals of the chassis 1. [090] In some embodiments not shoWn in the figure, the vehicle body position and attitude detection system further includes a dual-axis tilt angle sensor. The dual-axis tilt angle sensor is configured to detect the second actual value ßl and the third actual value V1. id="p-91" id="p-91" id="p-91" id="p-91" id="p-91" id="p-91"

[091] In some embodiments, as shoWn in FIG. 3, the first ann section attitude angle detection device includes a first angle sensor 61, a second angle sensor 62 and a third angle sensor 63. The first angle sensor 61 is configured to detect the fourth actual value ot2, the second angle sensor 62 is configured to detect the fifth actual value ß2, and the third angle sensor 63 is configured to detect the sixth actual value V2. id="p-92" id="p-92" id="p-92" id="p-92" id="p-92" id="p-92"

[092] In some embodiments, as shoWn in FIG. 3, the propelling beam attitude angle detection device includes a fourth angle sensor 64, a fifth angle sensor 65 and a sixth angle sensor 66. The fourth angle sensor 64 is configured to detect the seventh actual value ot3, the fifth angle sensor 65 is configured to detect the eighth actual value ß3, and the sixth angle sensor 66 is configured to detect the ninth actual value V3. id="p-93" id="p-93" id="p-93" id="p-93" id="p-93" id="p-93"

[093] Taking the drill jumbo as an example, before a rock drilling ann of the drill jumbo is 15/ 4 drilled, it is necessary to determine the position and attitude of the propelling beam 331 required to perform operation on the construction operation surface according to the direction of the aXis of the hole, that is, the position and attitude relative to the operation space. Therefore, the actual value of the pitch angle of the propelling beam 331 relative to the operation space and the actual value of the yaW angle of the propelling beam 331 relative to the operation space may be acquired through the angles detected by the angle sensors of the vehicle body position and attitude detection system and the Working ann position and attitude detection system, and then the position and attitude of the propelling beam 331 are adjusted by combining With the predetennined value of the pitch angle of the propelling beam relative to the operation space and the predetennined value of the yaW angle of the propelling beam 331 relative to the operation space, so that an aXis of a drilling part on the propelling beam 331 is aligned With an aXis of the hole, and the construction requirement is met. id="p-94" id="p-94" id="p-94" id="p-94" id="p-94" id="p-94"

[094] In some embodiments, the control device is ﬁlrther configured to: acquire a tenth actual value H of a pitch angle of the propelling beam 331 relative to the operation space and an eleventh actual value V of a yaW angle of the propelling beam 331 relative to the operation space according to at least one of the first actual value otl, the second actual value ßl, the third actual value yl, the fourth actual value (12, the fifth actual value BZ, the siXth actual value V2, the seventh actual value ot3, the eighth actual value ß3 and the ninth actual value V3. id="p-95" id="p-95" id="p-95" id="p-95" id="p-95" id="p-95"

[095] In some embodiments, the predeterinined position and attitude information includes a first predeterinined value H0 of a pitch angle of the propelling beam 331 relative to the operation space, and a second predeterinined value V0 of a yaW angle of the propelling beam 331 relative to the operation space; and the control device is ﬁlrther configured to: acquire a first deviation AH of the pitch angle according to the tenth actual value H and the first predeterinined value H0, acquire a second deviation AV of the yaW angle according to the eleventh actual value V and the second predeterinined value V0, and send the control signal to the driving device according to the first deviation AH and the second deviation AV. id="p-96" id="p-96" id="p-96" id="p-96" id="p-96" id="p-96"

[096] When the construction operation surface is drilled, the geotechnical engineering machine according to the above embodiments may directly meet the construction requirements by adjusting the position and attitude of the propelling beam 331 according to the detection results of 16/ 4 the vehicle body position and attitude detection system and the Working ann position and attitude detection system Without adjusting the positions and attitudes of other parts of the vehicle body and the Working ann, thereby further improving the operation efficiency. id="p-97" id="p-97" id="p-97" id="p-97" id="p-97" id="p-97"

[097] On the basis of taking angle information as the vehicle body real-time position and attitude information and the Working ann real-time position and attitude information in the above embodiments, in order to better meet the requirements of the construction precision and the operation type, displacement information and other information may further be acquired to serve as the vehicle body real-time position and attitude information and the Working ann real-time position and attitude information. id="p-98" id="p-98" id="p-98" id="p-98" id="p-98" id="p-98"

[098] In some embodiments, as shoWn in FIG. 3, the first ann section 311 is telescopically arranged along a length direction thereof, the Working ann position and attitude detection system further includes a first ann section displacement sensor 71, and the first ann section displacement sensor 71 is configured to detect the displacement of a first end of the first ann section 311 in the length direction relative to a second end in the length direction. id="p-99" id="p-99" id="p-99" id="p-99" id="p-99" id="p-99"

[099] In some embodiments, as shoWn in FIG. 3, the propelling beam 331 is telescopically arranged along a length direction thereof, the Working ann position and attitude detection system further includes a propelling beam displacement sensor 72, and the propelling beam displacement sensor 72 is configured to detect the displacement of a first end of the propelling beam 331 in the length direction relative to a second end in the length direction. id="p-100" id="p-100" id="p-100" id="p-100" id="p-100" id="p-100"

[0100] In some embodiments, as shoWn in FIG. 3, the Working ann further includes a drill rod 34 movably arranged on the propelling beam 331 along a length direction of the propelling beam 331, the Working ann position and attitude detection system further includes a drill rod displacement sensor 73, and the drill rod displacement sensor 73 is configured to detect the displacement of the drill rod 34 relative to the propelling beam 331 along the length direction of the propelling beam 331. id="p-101" id="p-101" id="p-101" id="p-101" id="p-101" id="p-101"

[0101] In some embodiments, the driving device includes a first driving device, a second driving device and a third driving device Which are in driving connection With the propelling beam 331. The first dnving device is configured to dnve the propelling beam 331 to rotate around a first axis relative to the first ann section 311, the second driving device is configured to dnve the 17/ 4 propelling beam 331 to rotate around a second aXis relative to the first ann section 311, and the third driving device is configured to drive the propelling beam 331 to rotate around a third axis relative to the propelling beam 331, Where the first aXis eXtends along a height direction of the propelling beam 331, the second aXis eXtends along a Width direction of the first ann section 311, and the third aXis eXtends along a length direction of the first ann section 311. In the above embodiment, the first driving device, the second driving device and the third driving device may singly drive the propelling beam 331 to move, or may all drive the propelling beam 331 to move, thereby adjusting the attitude of the propelling beam 331. id="p-102" id="p-102" id="p-102" id="p-102" id="p-102" id="p-102"

[0102] In some embodiments, the driving device is a hydraulic driving device, the position and attitude adjusting system ﬁirther includes a control valve signally connected to the control device and connected to the hydraulic driving device through a hydraulic pipeline, and the control valve is configured to adjust pressure and/or ﬂoW of hydraulic oil in the hydraulic driving device according to a control signal sent by the control device so as to drive the Working ann to move. [0103] FIG. 4 and FIG. 5 shoW the Working principle of a Working ann control device according to some embodiments of the present disclosure. id="p-104" id="p-104" id="p-104" id="p-104" id="p-104" id="p-104"

[0104] In the embodiments shown in FIG. 4 and FIG. 5, the hydraulic driving device includes a yaW driving oil cylinder as the first dnving device, a pitch dnving oil cylinder as the second driving device, and a roll dnving oil cylinder as the third driving device. Correspondingly, the control valve includes a first control valve connected to the yaW driving oil cylinder through a hydraulic pipeline, a second control valve connected to the pitch driving oil cylinder through a hydraulic pipeline, and a third control valve connected to the roll dnving oil cylinder through a hydraulic pipeline. The first control valve, the second control valve and the third control valve may be proportional valves. id="p-105" id="p-105" id="p-105" id="p-105" id="p-105" id="p-105"

[0105] In the embodiments shown in FIG. 4 and FIG 5, the control device includes a motion control module and a signal conditioning conversion module, the motion control module is signally connected to the signal conditioning conversion module, and predetennined position and attitude infonnation may be pre-stored in the motion control module. The signal conditioning conversion module converts vehicle body real-time position and attitude infonnation acquired by the vehicle body position and attitude detection system and Working ann real-time position and 18/ 4 attitude information acquired by the Working ann position and attitude detection system into signals Which can be identified by the motion control module, the motion control module acquires a deviation betWeen the actual position and attitude and the predetennined position and attitude of the propelling beam, and the signal conditioning conversion module converts the deviation acquired by the motion control module into proportional signals required for controlling the first control Valve, the second control valve and the third control Valve, so that the propelling beam is driven through the yaW driving oil cylinder, the pitch driving oil cylinder and the roll driving oil cylinder to move. id="p-106" id="p-106" id="p-106" id="p-106" id="p-106" id="p-106"

[0106] In some embodiments, the control device described above may be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, a discrete gate or a transistor logic device, a discrete hardWare assembly or any appropriate combination thereof for performing the functions described by the present disclosure. id="p-107" id="p-107" id="p-107" id="p-107" id="p-107" id="p-107"

[0107] Some embodiments of the present disclosure ﬁirther provide a method of controlling a Working ann of a geotechnical engineering machine, including the folloWing steps: acquiring vehicle body real-time position and attitude information for reﬂecting the real-time position and attitude of a vehicle body of the geotechnical engineering machine in an operation space of the geotechnical engineering machine, and Working ann real-time position and attitude infonnation for reﬂecting the real-time position and attitude of a Working ann of the geotechnical engineenng machine in the operation space of the geotechnical engineering machine; and adjusting the position and attitude of the Working ann according to predetennined position and attitude infonnation for reﬂecting the position and attitude of the Working ann required to perfonn operation on a construction operation surface, the vehicle body real-time position and attitude infonnation and the Working ann real-time position and attitude infonnation so as to make the Working ann reach the predetennined position and attitude. id="p-108" id="p-108" id="p-108" id="p-108" id="p-108" id="p-108"

[0108] The method of controlling the Working ann provided by the embodiment of the present disclosure may be implemented based on the geotechnical engineenng machine provided by the embodiment of the present disclosure. 19/ 4 id="p-109" id="p-109" id="p-109" id="p-109" id="p-109" id="p-109"

[0109] In the method of controlling the Working ann provided by the embodiment of the present disclosure, the real-time position and attitude of the Working ann may be automatically adjusted based on the vehicle body real-time position and attitude information acquired by the vehicle body position and attitude detection system, the Working ann real-time position and attitude information acquired by the Working ann position and attitude detection system and the predetennined position and attitude information of the Working ann detennined according to the construction requirement until the predetennined position and attitude are reached, the folloW-up control of the Working ann can be realized Without manual operation, and it is beneficial to improve the construction precision and the operation efficiency of the geotechnical engineering machine. id="p-110" id="p-110" id="p-110" id="p-110" id="p-110" id="p-110"

[0110] In some embodiments, the step of acquinng the vehicle body real-time position and attitude infonnation includes: acquiring at least one of a first actual value otl of a yaW angle of the vehicle body in the operation space, a second actual value ßl of a pitch angle of the vehicle body in the operation space, and a third actual value V1 of a roll angle of the vehicle body in the operation space. [01 1 1] In some embodiments, the Working ann includes a first ann section 311 and a propelling beam 331, a first end of the first ann section 311 is connected to the vehicle body and has a plurality of degrees of freedom of motion relative to the vehicle body, and the propelling beam 331 is connected to a second end of the first ann section 311 and has a plurality of degrees of freedom of motion relative to the first ann section 311. The step of acquiring Working ann real-time position and attitude infonnation includes: acquinng at least one of a fourth actual value (12 of a yaW angle of the first ann section 311 relative to the vehicle body, a fifth actual value ß2 of a pitch angle of the first ann 311 relative to the vehicle body, a siXth actual value V2 of a roll angle of the first ann section 311 relative to the vehicle body, a seventh actual value ot3 of a yaW angle of the propelling beam 331 relative to the first ann section 311, an eighth actual value ß3 of a pitch angle of the propelling beam 331 relative to the first ann section 311 and a ninth actual value V3 of a roll angle of the propelling beam 331 relative to the first ann section 311. [01 12] In some embodiments, the acquiring vehicle body real-time position and attitude infonnation includes the folloWing steps: providing pnsm group coordinate infonnation, Where the 20/ 4 prism group coordinate information includes coordinates of a plurality of prisms arranged at various positions of the vehicle body; and acquiring a first actual value (11, a second actual value ßl and a third actual value V1 according to the coordinates of the plurality of prisms. [01 13] In some embodiments, as shoWn in FIG. 2, the step of providing prism group coordinate information includes: providing a first prism coordinate (X1, y1, Zl) and a second prism coordinate (X2, y2, 22); and acquiring a first actual value (11, a second actual value ßl and a third actual value V1 according to the folloWing corresponding relations: (11 =arctan((y2 -y1)/ (X2 -x1)) id="p-114" id="p-114" id="p-114" id="p-114" id="p-114" id="p-114"

[0114] [01 15] ß1=arctan((z2-z1)/(x2-x1)) [0116] V1=arctan((z2-z1)/(y2-y1)) [01 17] In some embodiments, the step of acquiring Working ann real-time position and attitude information includes: a tenth actual value H of a pitch angle of the propelling beam 331 relative to the operation space and an eleventh actual value V of a yaW angle of the propelling beam 331 relative to the operation space are acquired according to at least one of the first actual value (11, the second actual value ßl, the third actual value V1, the fourth actual value (12, the fifth actual value ß2, the siXth actual value V2, the seventh actual value (13, the eighth actual value ß3 and the ninth actual value V3. [01 18] In some embodiments, the tenth actual value H is acquired according to the first actual value (11, the third actual value V1, the fourth actual value (12, the seventh actual value (13, the eighth actual value ß3, the ninth actual value V3 and the folloWing corresponding relations: [Om] H= - (a1+V1+(x2+o(3 >< cosy3+ß3 >< sinV3) _ d id="p-120" id="p-120" id="p-120" id="p-120" id="p-120" id="p-120"

[0120] the eleventh actual value V is acquired according to the second actual value ßl, the fifth actual value ß2, the seventh actual value (13, the eighth actual value ß3, the ninth actual value V3 and the following corresponding relations: [Om] V= - (ß1+ß2+ß3 X cosy3 - (13 >< siny3) id="p-122" id="p-122" id="p-122" id="p-122" id="p-122" id="p-122"

[0122] The tenth actual value H is obtained by directly and linearly superimposing components of a plurality of links, Where (11 is a component contributed by the yaW angle of the vehicle body 21/ 4 relative to the operation space, V1 is a component contributed by the roll angle of the vehicle body relative to the operation space, ot2 is a component contributed by the yaW angle of the first ann section relative to the vehicle body, and a3Xcosy3+ß3Xsiny3 is a component contributed by the combined action of the yaW angle, the pitch angle and the roll angle of the propelling beam relative to the first ann section. id="p-123" id="p-123" id="p-123" id="p-123" id="p-123" id="p-123"

[0123] The eleventh actual value V is obtained by directly and linearly superimposing components of a plurality of links, Where ßl is a component contributed by the pitch angle of the vehicle body relative to the operation space, ß2 is a component contributed by the pitch angle of the first ann section relative to the vehicle body, ß2 is a component contributed by the pitch angle of the first ann section relative to the vehicle body, and ß3Xcosy3 -a3Xsiny3 is a component contributed by the combined action of the yaW angle, the pitch angle and the roll angle of the propelling beam relative to the first ann section. id="p-124" id="p-124" id="p-124" id="p-124" id="p-124" id="p-124"

[0124] In some embodiments, the step of adjusting the position and attitude of the Working ann according to the deviation between the predetennined position and attitude infonnation for reﬂecting the position and attitude of the Working ann required to perfonn operation on the construction operation surface, the vehicle body real-time position and attitude infonnation and the Working ann real-time position and attitude infonnation so as to make the Working ann reach the predetennined position and attitude infonnation includes: predetennined position ad attitude infonnation is providing, including: a first predetennined value H0 of a pitch angle of the propelling beam 331 relative to the operation space and a second predetennined value V0 of a yaW angle of the propelling beam 331 relative to the operation space are provided; a first deviation AH of the deviation is acquired according to the tenth actual value H and the first predetennined value H0, and a second deviation AV of the yaW angle is acquired according to the eleventh actual value V and the second predetennined value V0; the propelling beam 331 is driven according to the first deviation AH and the second deviation AV to rotate around a fist aXis, a second aXis and a third aXis so as to adjust the position and attitude of the propelling beam 331 until the first deviation AH and the second deviation AV is less than an alloWable range, Where the first aXis eXtends along a height direction of the propelling beam 331, the second aXis eXtends along a Width direction of the first ann section 311, and the third aXis eXtends along a length direction of the first ann section 22/ 4 3 1 1. id="p-125" id="p-125" id="p-125" id="p-125" id="p-125" id="p-125"

[0125] The function of each step in the method of controlling the Working ann may be referenced to the related description of the Working ann control deVice of the geotechnical engineering machine. id="p-126" id="p-126" id="p-126" id="p-126" id="p-126" id="p-126"

[0126] The method of controlling the Working ann according to some embodiments of the present disclosure is further described beloW With reference to FIG. 6. In the embodiment shoWn in FIG. 6, the Working ann is a rock drilling ann of the drill jumbo and perfonns drilling operation of a blast hole in a tunnel face. id="p-127" id="p-127" id="p-127" id="p-127" id="p-127" id="p-127"

[0127] 1. Set predetennined position and attitude infonnation. The position and attitude of the propelling beam 331 required to perfonn operation on the construction operation surface are detennined according to the direction of an aXis of the blast hole, and the predetennined position and attitude required by the drilling operation is set, including a first predetennined Value H0 of a pitch angle of the propelling beam 331 relatiVe to the operation space and a second predetennined Value V0 of a yaW angle of the propelling beam 331 relatiVe to the operation space. id="p-128" id="p-128" id="p-128" id="p-128" id="p-128" id="p-128"

[0128] 2. Acquire Vehicle body real-time position and attitude infonnation. A first actual Value otl, a second actual Value ßl and a third actual Value V1 are acquired through a first prism coordinate (X1, y1, Zl) and a second prism coordinate (X2, y2, 22): al =arctan((y2 -y1)/ (X2 -x1)) id="p-129" id="p-129" id="p-129" id="p-129" id="p-129" id="p-129"

[0129] [Om] ß1=arctan((z2-z1)/(x2-x1)) [Om I] V1=arctan((z2-z1)/(y2-y1)) id="p-132" id="p-132" id="p-132" id="p-132" id="p-132" id="p-132"

[0132] 3. Acquire Working ann real-time position and attitude infonnation. A fourth actual Value ot2 is detected through a first angle sensor 61, a fifth actual Value ß2 is detected through a second angle sensor 62, a sixth actual Value V2 is detected by a third angle sensor 63, a seVenth actual Value ot3 is detected through a fourth angle sensor 64, an eighth actual Value ß3 is detected through a fifth angle sensor 65, a ninth actual Value V3 is detected through a siXth angle senor 66, a tenth actual Value H is acquired according to the first actual Value otl, the third actual Value V1, the fourth actual Value ot2, the seVenth actual Value ot3, the eighth actual Value ß3 and the ninth actual Value V3, and an eleVenth actual Value V is acquired according to the second actual Value ßl, the 23/ 4 fifth actual value BZ, the seventh actual value (13, the eighth actual value ß3 and the ninth actual value V3, Where [Om] H= - (a1+y1+a2+u3 >< cosy3+ß3 >< siny3) id="p-134" id="p-134" id="p-134" id="p-134" id="p-134" id="p-134"

[0134] V= - (ß1+ß2+ß3 X cosy3 - (13 >< siny3) id="p-135" id="p-135" id="p-135" id="p-135" id="p-135" id="p-135"

[0135] 4. Calculate a deviation betWeen the actual position and attitude and the predetermined position and attitude of the propelling beam. A first deviation AH=H0-H of a pitch angle is acquired according to the tenth actual value H and the first predetermined value H0, and a second deviation AV=V0-V of a yaW angle is acquired according to the eleventh actual value V relative to the second predetermined value V0. id="p-136" id="p-136" id="p-136" id="p-136" id="p-136" id="p-136"

[0136] 5. Adjust the position and attitude of the propelling beam. A variation Aoß of the yaW angle of the propelling beam 331, a variation Aß3 of the pitch angle and a variation Ay3 of the roll angle are solved according to the first deviation AH and the second deviation AV. When the Aoß, the Aß3 and the Ay3 are solved, one of the Aot3, the Aß3 and the Ay3 may be taken as a fixed value, for example, Aot3=0. The propelling beam 331 is driven to rotate around a first aXis by Aot3, around a second aXis by Aß3 and around a third aXis by Ayß so as to adjust the position and attitude of the propelling beam 331 until the first deviation AH and the second deviation AV are less than an alloWable range. An aXis of the drill rod 34 is aligned With an aXis of the hole. id="p-137" id="p-137" id="p-137" id="p-137" id="p-137" id="p-137"

[0137] By the method of controlling the Working ann according to the above embodiments, the folloW-up control of the rock drilling ann of the drill jumbo can be realized, and it is beneficial to improve the drilling precision and the drilling efficiency of the drilling operation. id="p-138" id="p-138" id="p-138" id="p-138" id="p-138" id="p-138"

[0138] Finally, it should be noted that the above embodiments are only used to describe the technical solution of the present disclosure, but not to limit thereto. Although the present disclosure is described in detail With reference to preferred embodiments, those of ordinary skill in the art should understand: the specific embodiments of the present disclosure still can be modified or part of technical features can be equivalently substituted, Which should be included in the scope of the technical solutions claimed by the present disclosure.

Claims

1.l. A geotechnical engineering machine, compnsing: a vehicle body; a Working ann, connected to the vehicle body and having a plurality of degrees of freedom of motion relative to the vehicle body; a vehicle body position and attitude detection system, arranged on the vehicle body and configured to acquire vehicle body real-time position and attitude information for reﬂecting the real-time position and attitude of the vehicle body in an operation space of the geotechnical engineering machine; a Working ann position and attitude detection system, arranged on the Working ann and configured to acquire Working ann real-time position and attitude information for reﬂecting the real-time position and attitude of the Working ann relative to the vehicle body; and a position and attitude adjusting system, comprising a control device and a dnving device, Wherein the control device is signally connected to the vehicle body position and attitude detection system, the Working ann position and attitude detection system and the driving device, the control device is configured to send a control signal for adjusting the position and attitude of the Working ann to the driving device according to predetennined position and attitude infonnation for reﬂecting the position and attitude of the Working ann required to perfonn operation on a construction operation surface, the vehicle body real-time position and attitude infonnation and the Working ann real-time position and attitude infonnation, the driving device is in driving connection With the Working ann, and the driving device is configured to drive the Working ann according to the control signal to move so as to make the Working ann reach the predetennined position and attitude.

2. The geotechnical engineering machine according to claim l, Wherein the vehicle body position and attitude detection system is configured to acquire at least one of the folloWing vehicle body real-time position and attitude infonnation: a f1rst actual value otlof a yaW angle of the vehicle body relative to the operation space, a second actual value ßl of a pitch 25/angle of the vehicle body relative to the operation space, and a third actual value V1 of a roll angle of the vehicle body relative to the operation space; and/or the Working ann comprises a first ann section (311) and a propelling beam (331), a first end of the first ann section (311) is connected to the vehicle body and has a plurality of degrees of freedom of motion relative to the vehicle body, and the propelling beam (331) is connected to a second end of the first ann section (311) and has a plurality of degrees of freedom of motion relative to the first ann section (311); the Working ann position and attitude detection system compnses a first ann section attitude angle detection device and a propelling beam attitude angle detection device; the first ann section attitude angle detection device is configured to acquire at least one of the following Working ann real-time position and attitude infonnation: a fourth actual value ot2 of a yaW angle of the first ann section (311) relative to the vehicle body, a fifth actual value ß2 of a pitch angle of the first ann section (311) relative to the vehicle body and a siXth actual value V2 of a roll angle of the first ann section (311) relative to the vehicle body; and the propelling beam attitude angle detection device is configured to acquire at least one of the folloWing Working ann real-time position and attitude infonnation: a seventh actual value ot3 of a yaW angle of the propelling beam (331) relative to the first ann section (311), an eighth actual value ß3 of a pitch angle of the propelling beam (331) relative to the first ann section (311) and a ninth actual value V3 of a roll angle of the propelling beam (331) relative to the first ann section (311).

3. The geotechnical engineering machine according to claim 2, Wherein the vehicle body position and attitude detection system compnses: a prism group, compnsing a plurality of prisms arranged at various positions of the vehicle body, and configured to detect the first actual value ot1, the second actual value ß1 and the third actual value V1; and/or a dual-axis tilt angle sensor, configured to detect the second actual value ß1 and the third actual value V

4. The geotechnical engineering machine according to claim 2, Wherein 26/the first ann section attitude angle detection device comprises a first angle sensor (61), a second angle sensor (62) and a third angle sensor (63), the first angle sensor (61) is configured to detect the fourth actual Value ot2, the second angle sensor (62) is configured to detect the fifth actual Value ß2, and the third angle sensor (63) is configured to detect the sixth actual Value V2; and/or the propelling beam attitude angle detection deVice comprises a fourth angle sensor (64), a fifth angle sensor (65) and a sixth angle sensor (66), the fourth angle sensor (64) is configured to detect the seVenth actual Value ot3, the fifth angle sensor (65) is configured to detect the eighth actual Value ß3, and the sixth angle sensor (66) is configured to detect the ninth actual Value V

5. The geotechnical engineering machine according to claim 2, Wherein the control deVice is further configured to: acquire a tenth actual Value H of a pitch angle of the propelling beam (331) relatiVe to the operation space and an eleVenth actual Value V of a yaW angle of the propelling beam (331) relatiVe to the operation space according to at least one of the f1rst actual Value otl, the second actual Value ßl, the third actual Value V1, the fourth actual Value ot2, the f1fth actual Value ß2, the sixth actual Value V2, the seVenth actual Value ot3, the eighth actual Value ß3 and the ninth actual Value V

6. The geotechnical engineering machine according to claim 5, Wherein the predetermined position and attitude information comprises a f1rst predetermined Value H0 of a pitch angle of the propelling beam (331) relatiVe to the operation space, and a second predetennined Value V0 of a yaW angle of the propelling beam (331) relatiVe to the operation space; and the control deVice is further configured to: acquire a f1rst deViation AH of the pitch angle according to the tenth actual Value H and the first predetennined Value H0, acquire a second deViation AV of the yaW angle according to the eleVenth actual Value V and the second predetermined Value V0, and send the control signal to the driVing deVice according to the f1rst deViation AH and the second deViation

7.AV. 27/7. The geotechnical engineering machine according to claim 2, Wherein the first ann section (311) is telescopically arranged along a length direction thereof, the Working ann position and attitude detection system ﬁirther compnses a first ann section displacement sensor (71), and the first ann section displacement sensor (71) is configured to detect the displacement of a first end of the first ann section (311) in the length direction relative to a second end in the length direction; and/or the propelling beam (331) is telescopically arranged along a length direction thereof, the Working ann position and attitude detection system further comprises a propelling beam displacement sensor (72), and the propelling beam displacement sensor (72) is configured to detect the displacement of a first end of the propelling beam (331) in the length direction relative to a second end in the length direction; and/or the Working ann further compnses a dnll rod (34) movably arranged on the propelling beam (331) along a length direction of the propelling beam (331), the Working ann position and attitude detection system ﬁirther comprises a drill rod displacement sensor (73), and the dnll rod displacement sensor (73) is configured to detect the displacement of the drill rod (34) relative to the propelling beam (331) along the length direction of the propelling beam (331).

8. The geotechnical engineering machine according to claim 2, Wherein the driving device compnses a first driving device, a second dnving device and a third dnving device Which are in driving connection With the propelling beam (331), the first dnving device is configured to drive the propelling beam (331) to rotate around a first aXis relative to the first ann section (311), the second driving device is configured to dnve the propelling beam (331) to rotate around a second axis relative to the first ann section (311), the third dnving device is configured to drive the propelling beam (331) to rotate around a third aXis relative to the propelling beam (331), the first aXis extends along a height direction of the propelling beam (331), the second aXis eXtends along a Width direction of the first ann section (311), and the third aXis extends along a length direction of the first ann section (311).

9. The geotechnical engineering machine according to any one of claims 1 to 8, Wherein the 28/driving device is a hydraulic driving device, the position and attitude adjusting system further compnses a control valve signally connected to the control device and connected to the hydraulic driving device through a hydraulic pipeline, and the control value is configured to adjust pressure and/or ﬂoW of hydraulic oil in the hydraulic driving device according to a control signal sent by the control device to drive the Working ann to move.

10. The geotechnical engineering machine according to any one of claims l to 8, comprising a drill jumbo, an anchor rod trolley or a Wet spraying trolley.

11.ll. A method of controlling a Working ann of a geotechnical engineering machine, comprising the folloWing steps: acquiring vehicle body real-time position and attitude information for reﬂecting the real-time position and attitude of a vehicle body of the geotechnical engineering machine in an operation space of the geotechnical engineering machine, and Working ann real-time position and attitude infonnation for reﬂecting the real-time position and attitude of a Working ann of the geotechnical engineering machine in the operation space of the geotechnical engineering machine; and adjusting the position and attitude of the Working ann according to predetennined position and attitude infonnation for reﬂecting the position and attitude of the Working arm required to perfonn operation on a construction operation surface, the vehicle body real-time position and attitude infonnation and the Working ann real-time position and attitude infonnation so as to make the Working ann reach the predetennined position and attitude.

12. The method of controlling the Working ann according to claim ll, Wherein the step of acquiring the vehicle body real-time position and attitude infonnation comprises: acquiring at least one of a first actual value otl of a yaW angle of the vehicle body in the operation space, a second actual value ßl of a pitch angle of the vehicle body in the operation space, and a third actual value yl of a roll angle of the vehicle body in the operation space; and/or the Working ann comprises a first ann section (311) and a propelling beam (331), a first end 29/of the first ann section (311) is connected to the Vehicle body and has a plurality of degrees of freedom of motion relatiVe to the Vehicle body, and the propelling beam (331) is connected to a second end of the first ann section (311) and has a plurality of degrees of freedom of motion relatiVe to the first ann section (311); the step of acquiring the Working ann real-time position and attitude information comprises: acquinng at least one of a fourth actual Value ot2 of a yaW angle of the first ann section (311) relatiVe to the Vehicle body, a fifth actual Value ß2 of a pitch angle of the first ann section (311) relatiVe to the Vehicle body, a siXth actual Value V2 of a roll angle of the first ann section (311) relatiVe to the Vehicle body, a seVenth actual Value ot3 of a yaW angle of the propelling beam (331) relatiVe to the first ann section (311), an eighth actual Value ß3 of a pitch angle of the propelling beam (331) relatiVe to the first ann section (311) and a ninth actual Value V3 of a roll angle of the propelling beam (331) relatiVe to the first ann section (311).

13. The method of controlling the Working ann according to claim 12, Wherein the acquiring the Vehicle body real-time position and attitude infonnation comprises the following steps: proViding pnsm group coordinate infonnation, Wherein the pnsm group coordinate infonnation compnses coordinates of a plurality of prisms arranged at Various positions of the Vehicle body; and acquiring the first actual Value otl, the second actual Value ßl and the third actual Value Vaccording to the coordinates of the plurality of pnsms.

14. The method of controlling the Working ann according to claim 13, the step of proViding pnsm group coordinate infonnation comprises: proViding a first prism coordinate (X1, y1, Zl) and a second prism coordinate (X2, y2, 22); and acquiring the first actual Value otl, the second actual Value ßl and the third actual Value Vaccording to the folloWing corresponding relations: al =arctan((y2-y1)/(x2-x1)) ß1=arctan((z2-z1)/(x2-x1)) y1=arctan((z2-z1)/(y2-y1)) _

15./15. The method of controlling the Working ann according to claim 12, Wherein the step of acquinng the Working ann real-time position and attitude information comprises: acquiring a tenth actual Value H of a pitch angle of the propelling beam (331) relatiVe to the operation space and an eleVenth actual Value V of a yaW angle of the propelling beam (331) relatiVe to the operation space according to at least one of the first actual Value (11, the second actual Value ßl, the third actual Value V1, the fourth actual Value (12, the f1fth actual Value ß2, the siXth actual Value V2, the seVenth actual Value (13, the eighth actual Value ß3 and the ninth actual Value V

16. The method of controlling the Working ann according to claim 15, Wherein acquiring the tenth actual Value H according to the first actual Value (11, the third actual Value yl, the fourth actual Value (12, the seVenth actual Value (13, the eighth actual Value ß3, the ninth actual Value V3 and the folloWing corresponding relations: H= - ((11+y1+(x2+o(3 >< cosy3+ß3 X sim/B) d ; an acquiring the e1eVenth actual Value V according to the second actual Value ßl, the fifth actual Value ß2, the seVenth actual Value (13, the eighth actual Value ß3, the ninth actual Value V3 and the folloWing corresponding relations: V= - (ß1+ß2+ß3 X cosy3 - (13 >< siny3)

17. The method of controlling the Working ann according to claim 15, Wherein the step of adjusting the position and attitude of the Working ann according to the deViation betWeen the predetennined position and attitude information for reﬂecting the position and attitude of the Working ann required to perfonn operation on a construction operation surface, the vehicle body real-time position and attitude information and the Working ann real-time position and attitude infonnation so as to make the Working ann reach the predetennined position and attitude compnses: proViding the predetennined position and attitude infonnation, compnsing: proViding a f1rst 31/predetermined Value H0 of a pitch angle of the propelling beam (331) relatiVe to the operation space, and a second predetermined Value V0 of a yaW angle of the propelling beam (331) relative to the operation space; acquiring a first deViation AH of the pitch angle according to the tenth actual Value H and the f1rst predetermined Value H0, and acquiring a second deViation AV of the yaW angle according to the eleVenth actual Value V and the second predetermined Value V0; and driving the propelling beam (331) to rotate around a f1rst aXis, a second aXis and a third aXis according to the f1rst deViation AH and the second deViation AV so as to adjust the position and attitude of the propelling beam (331) until the f1rst deViation AH and the second deViation AV are less than an alloWable range, Wherein the f1rst aXis eXtending along a height direction of the propelling beam (331), the second aXis eXtends along a Width direction of the f1rst ann section (311), and the third aXis eXtends along a length direction of the f1rst ann section (311). 32/ 4